Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
권호 표지

Design of the Parallel Manipulator for Minimizing the Extreme Articular Force in the Specific Translation Trajectory

특정 병진작업경로에서 최소의 관절힘을 받는 병렬형 매니퓰레이터의 설계

  • 양현익 (한양대학교 공학대학 기계정보경영공학부) ;
  • 이종우 (한양대학교 기계설계학) ;
  • 허원혁 (한양대학교 기계설계학과)
  • Published : 2004.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

Recently, need of the parallel manipulator requiring superior precision is increasing for medical application and precision manufacturing. In this study, we convert a given complex translation trajectory of the moving platform into a set of segments and hence a complex motion of the moving platform can be tractable and easily controled in a very limited workspace. In addition force exerted. to each link is minimized so that the minimized force can be transmitted to the end effector of the moving platform. An user friendly program is developed to design Gough-type 6DOF parallel manupulator based on the proposed method.

Keywords

References

  1. Research Report, 2527 Designing a parallel manipulator for a specific workspace Merlet, J. P.
  2. Meccanica v.35 Workspace and Optimal Design of a Pure Translation Parallel Manipulator Parenti, C. V.;Bubani, F. https://doi.org/10.1023/A:1010359523780
  3. Mechanism and Machine Theory v.35 Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices Liu, X. J.;Gao, F. https://doi.org/10.1016/S0094-114X(99)00072-5
  4. Robotica v.13 no.2 On the optimum design of Stewart platform type parallel manipulators Bhattacharya, S.;Hatwal, H.;Ghosh, A. https://doi.org/10.1017/S026357470001763X
  5. Journal of Robotics Research v.16 no.2 Kinematic Isotropy and the Optimum Design of parallel Manipulators Zanganeh, K. E.;Angels, J. https://doi.org/10.1177/027836499701600205
  6. Journal of Mechanical Design v.122 Kinematics and Optimization of a Spatial 3-UPU parallel manipulator Tsai, L. W.;Joshi, S. https://doi.org/10.1115/1.1311612
  7. Journal of Mechanism Transmissions and Automation in Design v.111 no.2 The Optimum Kinematic Design of a Spherical Three Degree of Freedom Parallel Manipulator Gosselin, C.;Angeles, J. https://doi.org/10.1115/1.3258984